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Improve LiDAR range modifications #376

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Improve LiDAR range modifications #376

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576ff96
Add range modification tooltip for non-uniform range LiDARs
msz-rai Dec 16, 2024
8dc18e8
Separate HesaiPandar128E4XHighRes to handle range modification from t…
msz-rai Dec 16, 2024
4283da6
Add more tooltips
msz-rai Dec 16, 2024
8c4006d
Update prefabs
msz-rai Dec 16, 2024
46b5df8
Update docs
msz-rai Dec 16, 2024
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4 changes: 2 additions & 2 deletions Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiAT128E2X.prefab
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Original file line number Diff line number Diff line change
Expand Up @@ -240,7 +240,7 @@ MonoBehaviour:
- topic: lidar/pointcloud_ex
publish: 1
fieldsPreset: 2
fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000
fields: 01000000030000000c0000000b000000090000000a000000080000000e000000
radarScanPublishers: []
--- !u!114 &9115279251508973176
MonoBehaviour:
Expand Down Expand Up @@ -302,7 +302,7 @@ MonoBehaviour:
00000000:
type: {class: HesaiAT128LidarConfiguration, ns: RGLUnityPlugin, asm: AWSIM}
data:
_laserArray:
laserArray:
centerOfMeasurementLinearOffsetMm: {x: -17.1, y: 24, z: 41.65}
focalDistanceMm: 0
lasers:
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7 changes: 3 additions & 4 deletions Assets/AWSIM/Prefabs/Sensors/RobotecGPULidars/HesaiPandar128E4X.prefab
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Original file line number Diff line number Diff line change
Expand Up @@ -143,7 +143,7 @@ MonoBehaviour:
- topic: lidar/pointcloud_ex
publish: 1
fieldsPreset: 2
fields: 01000000030000000c0000000b0000000a00000009000000080000000e000000
fields: 01000000030000000c0000000b000000090000000a000000080000000e000000
radarScanPublishers: []
--- !u!114 &2398431948632788025
MonoBehaviour:
Expand Down Expand Up @@ -203,9 +203,9 @@ MonoBehaviour:
references:
version: 1
00000000:
type: {class: HesaiPandar128E4XLidarConfiguration, ns: RGLUnityPlugin, asm: AWSIM}
type: {class: LaserBasedRangeLidarConfiguration, ns: RGLUnityPlugin, asm: AWSIM}
data:
_laserArray:
laserArray:
centerOfMeasurementLinearOffsetMm: {x: 0, y: 88.33, z: 0}
focalDistanceMm: 0
lasers:
Expand Down Expand Up @@ -1118,7 +1118,6 @@ MonoBehaviour:
distanceNoiseStDevBase: 0.02
distanceNoiseStDevRisePerMeter: 0
distanceNoiseMean: 0
highResolutionModeEnabled: 0
--- !u!1 &8835314765314878244
GameObject:
m_ObjectHideFlags: 0
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